
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
#include <Wire.h>
#include <avr/interrupt.h>
#include <avr/pgmspace.h>
#define MPU_ADDR 0x68
#define MEM_START_ADDR 0x6E
#define MEM_R_W 0x6F
float gyro [3];         // [gyrox,gyroy,gyroz]
VectorInt16 aaReal;     // [x, y, z]            gravity-free accel sensor measurements
MPU6050 mpu;
unsigned long time_01;
unsigned long time_02;
const int number = 10;
const int S = 15;
float Delta_accN[number];
float Delta_agrN[number];
float Delta_acc[number];
float Delta_agr[number];
float ax[number],ay[number],az[number],gx[number],gy[number],gz[number];
float yaw0,pitch0,roll0;
long lastRead = 0;
byte processed_packet[8];
byte received_packet[50];
byte temp = 0;
byte fifoCountL = 0;
byte fifoCountL2 = 0;
byte packetCount = 0x00;
boolean longPacket = false;
boolean firstPacket = true;
float q[4];
float euler[3];// = new float [3]; // psi, theta, phi
unsigned const char dmpMem[8][16][16] PROGMEM = {
  {
    {0xFB, 0x00, 0x00, 0x3E, 0x00, 0x0B, 0x00, 0x36, 0x00, 0x01, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00},
    {0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0xFA, 0x80, 0x00, 0x0B, 0x12, 0x82, 0x00, 0x01},
    {0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
    {0x00, 0x28, 0x00, 0x00, 0xFF, 0xFF, 0x45, 0x81, 0xFF, 0xFF, 0xFA, 0x72, 0x00, 0x00, 0x00, 0x00},
    {0x00, 0x00, 0x03, 0xE8, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x7F, 0xFF, 0xFF, 0xFE, 0x80, 0x01},
    {0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
    {0x00, 0x3E, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xCA, 0xE3, 0x09, 0x3E, 0x80, 0x00, 0x00},
    {0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00},
    {0x41, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x0B, 0x2A, 0x00, 0x00, 0x16, 0x55, 0x00, 0x00, 0x21, 0x82},
    {0xFD, 0x87, 0x26, 0x50, 0xFD, 0x80, 0x00, 0x00, 0x00, 0x1F, 0x00, 0x00, 0x00, 0x05, 0x80, 0x00},
    {0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00},
    {0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x6F, 0x00, 0x02, 0x65, 0x32, 0x00, 0x00, 0x5E, 0xC0},
    {0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
    {0xFB, 0x8C, 0x6F, 0x5D, 0xFD, 0x5D, 0x08, 0xD9, 0x00, 0x7C, 0x73, 0x3B, 0x00, 0x6C, 0x12, 0xCC},
    {0x32, 0x00, 0x13, 0x9D, 0x32, 0x00, 0xD0, 0xD6, 0x32, 0x00, 0x08, 0x00, 0x40, 0x00, 0x01, 0xF4},
    {0xFF, 0xE6, 0x80, 0x79, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD0, 0xD6, 0x00, 0x00, 0x27, 0x10}
  },
  {
    {0xFB, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
    {0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0x00},
    {0x00, 0x00, 0xFA, 0x36, 0xFF, 0xBC, 0x30, 0x8E, 0x00, 0x05, 0xFB, 0xF0, 0xFF, 0xD9, 0x5B, 0xC8},
    {0xFF, 0xD0, 0x9A, 0xBE, 0x00, 0x00, 0x10, 0xA9, 0xFF, 0xF4, 0x1E, 0xB2, 0x00, 0xCE, 0xBB, 0xF7},
    {0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x02, 0x00, 0x02, 0x02, 0x00, 0x00, 0x0C},
    {0xFF, 0xC2, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0xCF, 0x80, 0x00, 0x40, 0x00, 0x00, 0x00},
    {0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14},
    {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
    {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
    {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
    {0x00, 0x00, 0x00, 0x00, 0x03, 0x3F, 0x68, 0xB6, 0x79, 0x35, 0x28, 0xBC, 0xC6, 0x7E, 0xD1, 0x6C},
    {0x80, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0xB2, 0x6A, 0x00, 0x00, 0x00, 0x00},
    {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0xF0, 0x00, 0x00, 0x00, 0x30},
    {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
    {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
    {0x00, 0x00, 0x25, 0x4D, 0x00, 0x2F, 0x70, 0x6D, 0x00, 0x00, 0x05, 0xAE, 0x00, 0x0C, 0x02, 0xD0}
  },
  {
    {0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x54, 0xFF, 0xEF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
    {0x00, 0x00, 0x01, 0x00, 0x00, 0x44, 0x00, 0x00, 0x00, 0x00, 0x0C, 0x00, 0x00, 0x00, 0x01, 0x00},
    {0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x54, 0x00, 0x00, 0xFF, 0xEF, 0x00, 0x00},
    {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
    {0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
    {0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
    {0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
    {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
    {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
    {0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
    {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
    {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00},
    {0x00, 0x1B, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
    {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
    {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
    {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}
  },
  {
    {0xD8, 0xDC, 0xBA, 0xA2, 0xF1, 0xDE, 0xB2, 0xB8, 0xB4, 0xA8, 0x81, 0x91, 0xF7, 0x4A, 0x90, 0x7F},
    {0x91, 0x6A, 0xF3, 0xF9, 0xDB, 0xA8, 0xF9, 0xB0, 0xBA, 0xA0, 0x80, 0xF2, 0xCE, 0x81, 0xF3, 0xC2},
    {0xF1, 0xC1, 0xF2, 0xC3, 0xF3, 0xCC, 0xA2, 0xB2, 0x80, 0xF1, 0xC6, 0xD8, 0x80, 0xBA, 0xA7, 0xDF},
    {0xDF, 0xDF, 0xF2, 0xA7, 0xC3, 0xCB, 0xC5, 0xB6, 0xF0, 0x87, 0xA2, 0x94, 0x24, 0x48, 0x70, 0x3C},
    {0x95, 0x40, 0x68, 0x34, 0x58, 0x9B, 0x78, 0xA2, 0xF1, 0x83, 0x92, 0x2D, 0x55, 0x7D, 0xD8, 0xB1},
    {0xB4, 0xB8, 0xA1, 0xD0, 0x91, 0x80, 0xF2, 0x70, 0xF3, 0x70, 0xF2, 0x7C, 0x80, 0xA8, 0xF1, 0x01},
    {0xB0, 0x98, 0x87, 0xD9, 0x43, 0xD8, 0x86, 0xC9, 0x88, 0xBA, 0xA1, 0xF2, 0x0E, 0xB8, 0x97, 0x80},
    {0xF1, 0xA9, 0xDF, 0xDF, 0xDF, 0xAA, 0xDF, 0xDF, 0xDF, 0xF2, 0xAA, 0xC5, 0xCD, 0xC7, 0xA9, 0x0C},
    {0xC9, 0x2C, 0x97, 0x97, 0x97, 0x97, 0xF1, 0xA9, 0x89, 0x26, 0x46, 0x66, 0xB0, 0xB4, 0xBA, 0x80},
    {0xAC, 0xDE, 0xF2, 0xCA, 0xF1, 0xB2, 0x8C, 0x02, 0xA9, 0xB6, 0x98, 0x00, 0x89, 0x0E, 0x16, 0x1E},
    {0xB8, 0xA9, 0xB4, 0x99, 0x2C, 0x54, 0x7C, 0xB0, 0x8A, 0xA8, 0x96, 0x36, 0x56, 0x76, 0xF1, 0xB9},
    {0xAF, 0xB4, 0xB0, 0x83, 0xC0, 0xB8, 0xA8, 0x97, 0x11, 0xB1, 0x8F, 0x98, 0xB9, 0xAF, 0xF0, 0x24},
    {0x08, 0x44, 0x10, 0x64, 0x18, 0xF1, 0xA3, 0x29, 0x55, 0x7D, 0xAF, 0x83, 0xB5, 0x93, 0xAF, 0xF0},
    {0x00, 0x28, 0x50, 0xF1, 0xA3, 0x86, 0x9F, 0x61, 0xA6, 0xDA, 0xDE, 0xDF, 0xD9, 0xFA, 0xA3, 0x86},
    {0x96, 0xDB, 0x31, 0xA6, 0xD9, 0xF8, 0xDF, 0xBA, 0xA6, 0x8F, 0xC2, 0xC5, 0xC7, 0xB2, 0x8C, 0xC1},
    {0xB8, 0xA2, 0xDF, 0xDF, 0xDF, 0xA3, 0xDF, 0xDF, 0xDF, 0xD8, 0xD8, 0xF1, 0xB8, 0xA8, 0xB2, 0x86}
  },
  {
    {0xB4, 0x98, 0x0D, 0x35, 0x5D, 0xB8, 0xAA, 0x98, 0xB0, 0x87, 0x2D, 0x35, 0x3D, 0xB2, 0xB6, 0xBA},
    {0xAF, 0x8C, 0x96, 0x19, 0x8F, 0x9F, 0xA7, 0x0E, 0x16, 0x1E, 0xB4, 0x9A, 0xB8, 0xAA, 0x87, 0x2C},
    {0x54, 0x7C, 0xB9, 0xA3, 0xDE, 0xDF, 0xDF, 0xA3, 0xB1, 0x80, 0xF2, 0xC4, 0xCD, 0xC9, 0xF1, 0xB8},
    {0xA9, 0xB4, 0x99, 0x83, 0x0D, 0x35, 0x5D, 0x89, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0xB5, 0x93, 0xA3},
    {0x0E, 0x16, 0x1E, 0xA9, 0x2C, 0x54, 0x7C, 0xB8, 0xB4, 0xB0, 0xF1, 0x97, 0x83, 0xA8, 0x11, 0x84},
    {0xA5, 0x09, 0x98, 0xA3, 0x83, 0xF0, 0xDA, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xD8, 0xF1, 0xA5},
    {0x29, 0x55, 0x7D, 0xA5, 0x85, 0x95, 0x02, 0x1A, 0x2E, 0x3A, 0x56, 0x5A, 0x40, 0x48, 0xF9, 0xF3},
    {0xA3, 0xD9, 0xF8, 0xF0, 0x98, 0x83, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0x97, 0x82, 0xA8, 0xF1},
    {0x11, 0xF0, 0x98, 0xA2, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xDA, 0xF3, 0xDE, 0xD8, 0x83, 0xA5},
    {0x94, 0x01, 0xD9, 0xA3, 0x02, 0xF1, 0xA2, 0xC3, 0xC5, 0xC7, 0xD8, 0xF1, 0x84, 0x92, 0xA2, 0x4D},
    {0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9},
    {0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0x93, 0xA3, 0x4D},
    {0xDA, 0x2A, 0xD8, 0x48, 0x69, 0xD9, 0x2A, 0xD8, 0x68, 0x55, 0xDA, 0x32, 0xD8, 0x50, 0x71, 0xD9},
    {0x32, 0xD8, 0x70, 0x5D, 0xDA, 0x3A, 0xD8, 0x58, 0x79, 0xD9, 0x3A, 0xD8, 0x78, 0xA8, 0x8A, 0x9A},
    {0xF0, 0x28, 0x50, 0x78, 0x9E, 0xF3, 0x88, 0x18, 0xF1, 0x9F, 0x1D, 0x98, 0xA8, 0xD9, 0x08, 0xD8},
    {0xC8, 0x9F, 0x12, 0x9E, 0xF3, 0x15, 0xA8, 0xDA, 0x12, 0x10, 0xD8, 0xF1, 0xAF, 0xC8, 0x97, 0x87}
  },
  {
    {0x34, 0xB5, 0xB9, 0x94, 0xA4, 0x21, 0xF3, 0xD9, 0x22, 0xD8, 0xF2, 0x2D, 0xF3, 0xD9, 0x2A, 0xD8},
    {0xF2, 0x35, 0xF3, 0xD9, 0x32, 0xD8, 0x81, 0xA4, 0x60, 0x60, 0x61, 0xD9, 0x61, 0xD8, 0x6C, 0x68},
    {0x69, 0xD9, 0x69, 0xD8, 0x74, 0x70, 0x71, 0xD9, 0x71, 0xD8, 0xB1, 0xA3, 0x84, 0x19, 0x3D, 0x5D},
    {0xA3, 0x83, 0x1A, 0x3E, 0x5E, 0x93, 0x10, 0x30, 0x81, 0x10, 0x11, 0xB8, 0xB0, 0xAF, 0x8F, 0x94},
    {0xF2, 0xDA, 0x3E, 0xD8, 0xB4, 0x9A, 0xA8, 0x87, 0x29, 0xDA, 0xF8, 0xD8, 0x87, 0x9A, 0x35, 0xDA},
    {0xF8, 0xD8, 0x87, 0x9A, 0x3D, 0xDA, 0xF8, 0xD8, 0xB1, 0xB9, 0xA4, 0x98, 0x85, 0x02, 0x2E, 0x56},
    {0xA5, 0x81, 0x00, 0x0C, 0x14, 0xA3, 0x97, 0xB0, 0x8A, 0xF1, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9},
    {0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x84, 0x0D, 0xDA, 0x0E, 0xD8, 0xA3, 0x29, 0x83, 0xDA},
    {0x2C, 0x0E, 0xD8, 0xA3, 0x84, 0x49, 0x83, 0xDA, 0x2C, 0x4C, 0x0E, 0xD8, 0xB8, 0xB0, 0xA8, 0x8A},
    {0x9A, 0xF5, 0x20, 0xAA, 0xDA, 0xDF, 0xD8, 0xA8, 0x40, 0xAA, 0xD0, 0xDA, 0xDE, 0xD8, 0xA8, 0x60},
    {0xAA, 0xDA, 0xD0, 0xDF, 0xD8, 0xF1, 0x97, 0x86, 0xA8, 0x31, 0x9B, 0x06, 0x99, 0x07, 0xAB, 0x97},
    {0x28, 0x88, 0x9B, 0xF0, 0x0C, 0x20, 0x14, 0x40, 0xB8, 0xB0, 0xB4, 0xA8, 0x8C, 0x9C, 0xF0, 0x04},
    {0x28, 0x51, 0x79, 0x1D, 0x30, 0x14, 0x38, 0xB2, 0x82, 0xAB, 0xD0, 0x98, 0x2C, 0x50, 0x50, 0x78},
    {0x78, 0x9B, 0xF1, 0x1A, 0xB0, 0xF0, 0x8A, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x8B, 0x29, 0x51, 0x79},
    {0x8A, 0x24, 0x70, 0x59, 0x8B, 0x20, 0x58, 0x71, 0x8A, 0x44, 0x69, 0x38, 0x8B, 0x39, 0x40, 0x68},
    {0x8A, 0x64, 0x48, 0x31, 0x8B, 0x30, 0x49, 0x60, 0xA5, 0x88, 0x20, 0x09, 0x71, 0x58, 0x44, 0x68}
  },
  {
    {0x11, 0x39, 0x64, 0x49, 0x30, 0x19, 0xF1, 0xAC, 0x00, 0x2C, 0x54, 0x7C, 0xF0, 0x8C, 0xA8, 0x04},
    {0x28, 0x50, 0x78, 0xF1, 0x88, 0x97, 0x26, 0xA8, 0x59, 0x98, 0xAC, 0x8C, 0x02, 0x26, 0x46, 0x66},
    {0xF0, 0x89, 0x9C, 0xA8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31},
    {0xA9, 0x88, 0x09, 0x20, 0x59, 0x70, 0xAB, 0x11, 0x38, 0x40, 0x69, 0xA8, 0x19, 0x31, 0x48, 0x60},
    {0x8C, 0xA8, 0x3C, 0x41, 0x5C, 0x20, 0x7C, 0x00, 0xF1, 0x87, 0x98, 0x19, 0x86, 0xA8, 0x6E, 0x76},
    {0x7E, 0xA9, 0x99, 0x88, 0x2D, 0x55, 0x7D, 0x9E, 0xB9, 0xA3, 0x8A, 0x22, 0x8A, 0x6E, 0x8A, 0x56},
    {0x8A, 0x5E, 0x9F, 0xB1, 0x83, 0x06, 0x26, 0x46, 0x66, 0x0E, 0x2E, 0x4E, 0x6E, 0x9D, 0xB8, 0xAD},
    {0x00, 0x2C, 0x54, 0x7C, 0xF2, 0xB1, 0x8C, 0xB4, 0x99, 0xB9, 0xA3, 0x2D, 0x55, 0x7D, 0x81, 0x91},
    {0xAC, 0x38, 0xAD, 0x3A, 0xB5, 0x83, 0x91, 0xAC, 0x2D, 0xD9, 0x28, 0xD8, 0x4D, 0xD9, 0x48, 0xD8},
    {0x6D, 0xD9, 0x68, 0xD8, 0x8C, 0x9D, 0xAE, 0x29, 0xD9, 0x04, 0xAE, 0xD8, 0x51, 0xD9, 0x04, 0xAE},
    {0xD8, 0x79, 0xD9, 0x04, 0xD8, 0x81, 0xF3, 0x9D, 0xAD, 0x00, 0x8D, 0xAE, 0x19, 0x81, 0xAD, 0xD9},
    {0x01, 0xD8, 0xF2, 0xAE, 0xDA, 0x26, 0xD8, 0x8E, 0x91, 0x29, 0x83, 0xA7, 0xD9, 0xAD, 0xAD, 0xAD},
    {0xAD, 0xF3, 0x2A, 0xD8, 0xD8, 0xF1, 0xB0, 0xAC, 0x89, 0x91, 0x3E, 0x5E, 0x76, 0xF3, 0xAC, 0x2E},
    {0x2E, 0xF1, 0xB1, 0x8C, 0x5A, 0x9C, 0xAC, 0x2C, 0x28, 0x28, 0x28, 0x9C, 0xAC, 0x30, 0x18, 0xA8},
    {0x98, 0x81, 0x28, 0x34, 0x3C, 0x97, 0x24, 0xA7, 0x28, 0x34, 0x3C, 0x9C, 0x24, 0xF2, 0xB0, 0x89},
    {0xAC, 0x91, 0x2C, 0x4C, 0x6C, 0x8A, 0x9B, 0x2D, 0xD9, 0xD8, 0xD8, 0x51, 0xD9, 0xD8, 0xD8, 0x79}
  },
  {
    {0xD9, 0xD8, 0xD8, 0xF1, 0x9E, 0x88, 0xA3, 0x31, 0xDA, 0xD8, 0xD8, 0x91, 0x2D, 0xD9, 0x28, 0xD8},
    {0x4D, 0xD9, 0x48, 0xD8, 0x6D, 0xD9, 0x68, 0xD8, 0xB1, 0x83, 0x93, 0x35, 0x3D, 0x80, 0x25, 0xDA},
    {0xD8, 0xD8, 0x85, 0x69, 0xDA, 0xD8, 0xD8, 0xB4, 0x93, 0x81, 0xA3, 0x28, 0x34, 0x3C, 0xF3, 0xAB},
    {0x8B, 0xF8, 0xA3, 0x91, 0xB6, 0x09, 0xB4, 0xD9, 0xAB, 0xDE, 0xFA, 0xB0, 0x87, 0x9C, 0xB9, 0xA3},
    {0xDD, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x95, 0xF1, 0xA3, 0xA3, 0xA3, 0x9D, 0xF1, 0xA3, 0xA3, 0xA3},
    {0xA3, 0xF2, 0xA3, 0xB4, 0x90, 0x80, 0xF2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3},
    {0xA3, 0xB2, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xA3, 0xB0, 0x87, 0xB5, 0x99, 0xF1, 0xA3, 0xA3, 0xA3},
    {0x98, 0xF1, 0xA3, 0xA3, 0xA3, 0xA3, 0x97, 0xA3, 0xA3, 0xA3, 0xA3, 0xF3, 0x9B, 0xA3, 0xA3, 0xDC},
    {0xB9, 0xA7, 0xF1, 0x26, 0x26, 0x26, 0xD8, 0xD8, 0xFF}
  }
};

//DMP update transmissions (Bank, Start Address, Update Length, Update Data...)

static byte dmp_updates[29][9] =
{
  {
    0x03, 0x7B, 0x03, 0x4C, 0xCD, 0x6C} //FCFG_1 inv_set_gyro_calibration
  ,
  {
    0x03, 0xAB, 0x03, 0x36, 0x56, 0x76 } //FCFG_3 inv_set_gyro_calibration
  ,
  {
    0x00, 0x68, 0x04, 0x02, 0xCB, 0x47, 0xA2 } //D_0_104 inv_set_gyro_calibration
  ,
  {
    0x02, 0x18, 0x04, 0x00, 0x05, 0x8B, 0xC1 } //D_0_24 inv_set_gyro_calibration
  ,
  {
    0x01, 0x0C, 0x04, 0x00, 0x00, 0x00, 0x00 } //D_1_152 inv_set_accel_calibration
  ,
  {
    0x03, 0x7F, 0x06, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97 } //FCFG_2 inv_set_accel_calibration
  ,
  {
    0x03, 0x89, 0x03, 0x26, 0x46, 0x66 } //FCFG_7 inv_set_accel_calibration
  ,
  {
    0x00, 0x6C, 0x02, 0x20, 0x00 } //D_0_108 inv_set_accel_calibration
  ,
  {
    0x02, 0x40, 0x04, 0x00, 0x00, 0x00, 0x00 } //CPASS_MTX_00 inv_set_compass_calibration
  ,
  {
    0x02, 0x44, 0x04, 0x00, 0x00, 0x00, 0x00 } //CPASS_MTX_01
  ,
  {
    0x02, 0x48, 0x04, 0x00, 0x00, 0x00, 0x00 } //CPASS_MTX_02
  ,
  {
    0x02, 0x4C, 0x04, 0x00, 0x00, 0x00, 0x00 } //CPASS_MTX_10
  ,
  {
    0x02, 0x50, 0x04, 0x00, 0x00, 0x00, 0x00 } //CPASS_MTX_11
  ,
  {
    0x02, 0x54, 0x04, 0x00, 0x00, 0x00, 0x00 } //CPASS_MTX_12
  ,
  {
    0x02, 0x58, 0x04, 0x00, 0x00, 0x00, 0x00 } //CPASS_MTX_20
  ,
  {
    0x02, 0x5C, 0x04, 0x00, 0x00, 0x00, 0x00 } //CPASS_MTX_21
  ,
  {
    0x02, 0xBC, 0x04, 0x00, 0x00, 0x00, 0x00 } //CPASS_MTX_22
  ,
  {
    0x01, 0xEC, 0x04, 0x00, 0x00, 0x40, 0x00 } //D_1_236 inv_apply_endian_accel
  ,
  {
    0x03, 0x7F, 0x06, 0x0C, 0xC9, 0x2C, 0x97, 0x97, 0x97 } //FCFG_2 inv_set_mpu_sensors
  ,
  {
    0x04, 0x02, 0x03, 0x0D, 0x35, 0x5D } //CFG_MOTION_BIAS inv_turn_on_bias_from_no_motion
  ,
  {
    0x04, 0x09, 0x04, 0x87, 0x2D, 0x35, 0x3D } //FCFG_5 inv_set_bias_update
  ,
  {
    0x00, 0xA3, 0x01, 0x00 } //D_0_163 inv_set_dead_zone
  ,
  //SET INT_ENABLE at i=22
  {
    0x07, 0x86, 0x01, 0xFE } //CFG_6 inv_set_fifo_interupt
  ,
  {
    0x07, 0x41, 0x05, 0xF1, 0x20, 0x28, 0x30, 0x38 } //CFG_8 inv_send_quaternion
  ,
  {
    0x07, 0x7E, 0x01, 0x30 } //CFG_16 inv_set_footer
  ,
  {
    0x07, 0x46, 0x01, 0x9A } //CFG_GYRO_SOURCE inv_send_gyro
  ,
  {
    0x07, 0x47, 0x04, 0xF1, 0x28, 0x30, 0x38 } //CFG_9 inv_send_gyro -> inv_construct3_fifo
  ,
  {
    0x07, 0x6C, 0x04, 0xF1, 0x28, 0x30, 0x38 } //CFG_12 inv_send_accel -> inv_construct3_fifo
  ,
  {
    0x02, 0x16, 0x02, 0x00, 0x0A } //D_0_22 inv_set_fifo_rate
};
  
void setup(){

  Serial.begin(115200);
  Wire.begin();
  delay(1);
  check_MPU();
  pinMode(2,INPUT_PULLUP);
  pinMode(3,INPUT_PULLUP);

  //Serial.println("MPU-6050 6-Axis");

  regWrite(0x6B, 0xC0);
  regWrite(0x6C, 0x00);
  delay(10);
  
// regWrite(0x6B, 0x70);
  regWrite(0x6B, 0x00);
  regWrite(0x6D, 0x70);
  regWrite(0x6E, 0x06);
  temp = regRead(0x6F);

// temp = regRead(0x6B);
// Serial.println(temp, HEX);
  
  regWrite(0x6D, 0x00);
  
  temp = regRead(0x00);
  temp = regRead(0x01);
  temp = regRead(0x02);
  temp = regRead(0x6A);
  
  regWrite(0x37, 0x32);
  
  temp = regRead(0x6B);
  delay(5);
// regWrite(0x25, 0x68); //Set Slave 0 to self
//
// regWrite(0x6A, 0x02);
    mpu.setXGyroOffset(220);
    mpu.setYGyroOffset(76);
    mpu.setZGyroOffset(-85);
    mpu.setZAccelOffset(1788); // 1688 factory default for my test chip

  mem_init();
delay(20);
}
  
void dmp_init(){
  
  for(int i = 0; i < 7; i++){
    bank_sel(i);
    for(byte j = 0; j < 16; j++){
      
      byte start_addy = j * 0x10;
      
      Wire.beginTransmission(MPU_ADDR);
      Wire.write(MEM_START_ADDR);
      Wire.write(start_addy);
      Wire.endTransmission();
  
      Wire.beginTransmission(MPU_ADDR);
      Wire.write(MEM_R_W);
      for(int k = 0; k < 16; k++){
        unsigned char byteToSend = pgm_read_byte(&(dmpMem[i][j][k]));
        Wire.write((byte) byteToSend);
      }
      Wire.endTransmission();
    }
  }
  
  bank_sel(7);

  for(byte j = 0; j < 8; j++){
    
    byte start_addy = j * 0x10;
    
    Wire.beginTransmission(MPU_ADDR);
    Wire.write(MEM_START_ADDR);
    Wire.write(start_addy);
    Wire.endTransmission();

    Wire.beginTransmission(MPU_ADDR);
    Wire.write(MEM_R_W);
    for(int k = 0; k < 16; k++){
      unsigned char byteToSend = pgm_read_byte(&(dmpMem[7][j][k]));
      Wire.write((byte) byteToSend);
    }
    Wire.endTransmission();
  }
  
  Wire.beginTransmission(MPU_ADDR);
  Wire.write(MEM_START_ADDR);
  Wire.write(0x80);
  Wire.endTransmission();
  
  Wire.beginTransmission(MPU_ADDR);
  Wire.write(MEM_R_W);
  for(int k = 0; k < 9; k++){
      unsigned char byteToSend = pgm_read_byte(&(dmpMem[7][8][k]));
      Wire.write((byte) byteToSend);
  }
  Wire.endTransmission();
  
  Wire.beginTransmission(MPU_ADDR);
  Wire.write(MEM_R_W);
  Wire.endTransmission();
  Wire.beginTransmission(MPU_ADDR);
  Wire.requestFrom(MPU_ADDR,9);
// Wire.endTransmission();
  byte incoming[9];
  for(int i = 0; i < 9; i++){
    incoming[i] = Wire.read();
  }
}
  
void mem_init(){
  
  dmp_init();
  
  for(byte i = 0; i < 22; i++){
    bank_sel(dmp_updates[i][0]);
    Wire.beginTransmission(MPU_ADDR);
    Wire.write(MEM_START_ADDR);
    Wire.write(dmp_updates[i][1]);
    Wire.endTransmission();

    Wire.beginTransmission(MPU_ADDR);
    Wire.write(MEM_R_W);
    for(byte j = 0; j < dmp_updates[i][2]; j++){
      Wire.write(dmp_updates[i][j+3]);
    }
    Wire.endTransmission();
  }

  regWrite(0x38, 0x32);

  for(byte i = 22; i < 29; i++){
    bank_sel(dmp_updates[i][0]);
    Wire.beginTransmission(MPU_ADDR);
    Wire.write(MEM_START_ADDR);
    Wire.write(dmp_updates[i][1]);
    Wire.endTransmission();

    Wire.beginTransmission(MPU_ADDR);
    Wire.write(MEM_R_W);
    for(byte j = 0; j < dmp_updates[i][2]; j++){
      Wire.write(dmp_updates[i][j+3]);
    }
    Wire.endTransmission();
  }
  
  temp = regRead(0x6B);
  //Serial.println(temp, HEX);
  temp = regRead(0x6C);
 // Serial.println(temp, HEX);
  
  regWrite(0x38, 0x02);
  regWrite(0x6B, 0x03);
// regWrite(0x6B, 0x70);
// regWrite(0x38, 0x38);
// regWrite(0x6B, 0x73);
  regWrite(0x19, 0x04);
  regWrite(0x1B, 0x18);
  regWrite(0x1A, 0x0B);
  regWrite(0x70, 0x03);
  regWrite(0x71, 0x00);
  regWrite(0x00, 0x00);
  regWrite(0x01, 0x00);
  regWrite(0x02, 0x00);
  
  Wire.beginTransmission(MPU_ADDR);
  Wire.write(0x13);
  for(byte i = 0; i < 6; i++){
    Wire.write(0x00);
  }
  Wire.endTransmission();
  
// regWrite(0x24, 0x00);

  bank_sel(0x01);
  regWrite(0x6E, 0xB2);
  Wire.beginTransmission(MPU_ADDR);
  Wire.write(0x6F);
  Wire.write(0xFF); Wire.write(0xFF);
  Wire.endTransmission();

  bank_sel(0x01);
  regWrite(0x6E, 0x90);
  
  Wire.beginTransmission(MPU_ADDR);
  Wire.write(0x6F);
  Wire.write(0x09); Wire.write(0x23); Wire.write(0xA1); Wire.write(0x35);
  Wire.endTransmission();
  
  temp = regRead(0x6A);
  
  regWrite(0x6A, 0x04);
  
  //Insert FIFO count read?
  fifoReady();
  
  regWrite(0x6A, 0x00);
  regWrite(0x6B, 0x03);
  
  delay(2);
  
  temp = regRead(0x6C);
// Serial.println(temp, HEX);
  regWrite(0x6C, 0x00);
  temp = regRead(0x1C);
// Serial.println(temp, HEX);
  regWrite(0x1C, 0x00);
  delay(2);
  temp = regRead(0x6B);
// Serial.println(temp, HEX);
  regWrite(0x1F, 0x02);
  regWrite(0x21, 0x9C);
  regWrite(0x20, 0x50);
  regWrite(0x22, 0x00);
  regWrite(0x6A, 0x04);
  regWrite(0x6A, 0x00);
  regWrite(0x6A, 0xC8);
  
  bank_sel(0x01);
  regWrite(0x6E, 0x6A);
  Wire.beginTransmission(MPU_ADDR);
  Wire.write(0x6F);
  Wire.write(0x06); Wire.write(0x00);
  Wire.endTransmission();
  
  bank_sel(0x01);
  regWrite(0x6E, 0x60);
  Wire.beginTransmission(MPU_ADDR);
  Wire.write(0x6F);
  for(byte i = 0; i < 8; i++){
    Wire.write(0x00);
  }
  Wire.endTransmission();
  
// bank_sel(0x01);
// regWrite(0x6E, 0x60);
// Wire.beginTransmission(MPU_ADDR);
// Wire.send(0x6F);
// Wire.send(0x04); Wire.send(0x00); Wire.send(0x00); Wire.send(0x00);
// Wire.endTransmission();
  
  bank_sel(0x00);
  regWrite(0x6E, 0x60);
  Wire.beginTransmission(MPU_ADDR);
  Wire.write(0x6F);
  Wire.write(0x40); Wire.write(0x00); Wire.write(0x00); Wire.write(0x00);
  Wire.endTransmission();
  
  //resetFifo();
  
}

void regWrite(byte addy, byte regUpdate){
  Wire.beginTransmission(MPU_ADDR);
  Wire.write(addy);
  Wire.write(regUpdate);
  Wire.endTransmission();
}

byte regRead(byte addy){
  Wire.beginTransmission(MPU_ADDR);
  Wire.write(addy);
  Wire.endTransmission();
  Wire.beginTransmission(MPU_ADDR);
  Wire.requestFrom(MPU_ADDR,1);
// Wire.endTransmission();
  while(!Wire.available()){
  }
  byte incoming = Wire.read();
  return incoming;
}

void getPacket(){
  if(fifoCountL > 32){
    fifoCountL2 = fifoCountL - 32;
    longPacket = true;
  }
  Wire.beginTransmission(MPU_ADDR);
  Wire.write(0x74);
  Wire.endTransmission();
// Wire.requestFrom(MPU_ADDR, 42);
// for(byte i = 0; i < fifoCountL; i++){
  if(longPacket){
    Wire.beginTransmission(MPU_ADDR);
    Wire.requestFrom(MPU_ADDR, 32);
    for(byte i = 0; i < 32; i++){
      received_packet[i] = Wire.read();
    }
    Wire.beginTransmission(MPU_ADDR);
    Wire.write(0x74);
    Wire.endTransmission();
    Wire.beginTransmission(MPU_ADDR);
    Wire.requestFrom(MPU_ADDR, (unsigned int)fifoCountL2);
    for(byte i = 32; i < fifoCountL; i++){
      received_packet[i] = Wire.read();
    }
    longPacket = false;
  }
  else{
    Wire.beginTransmission(MPU_ADDR);
    Wire.requestFrom(MPU_ADDR, (unsigned int)fifoCountL);
    for(byte i = 0; i < fifoCountL; i++){
      received_packet[i] = Wire.read();
    }
  }
}

boolean fifoReady(){
  Wire.beginTransmission(MPU_ADDR);
  Wire.write(0x72);
  Wire.endTransmission();
  Wire.beginTransmission(MPU_ADDR);
  Wire.requestFrom(MPU_ADDR,2);
// Wire.endTransmission();
  byte fifoCountH = Wire.read();
  fifoCountL = Wire.read();
// Serial.println(fifoCountL, DEC);
  if(fifoCountL == 42 || fifoCountL == 44){
    return 1;
  }
  else return 0;
}
void loop(){
  time_01 = millis();
  if(millis() >= lastRead + 10){
    lastRead = millis();
    if(fifoReady()){
      getPacket();
      temp = regRead(0x3A);
      if(firstPacket){
        delay(1);
        bank_sel(0x00);
        regWrite(0x6E, 0x60);
        Wire.beginTransmission(MPU_ADDR);
        Wire.write(0x6F);
        Wire.write(0x04); Wire.write(0x00); Wire.write(0x00); Wire.write(0x00);
// Wire.write(0x00); Wire.write(0x80); Wire.write(0x00); Wire.write(0x00);
        Wire.endTransmission();
        bank_sel(1);
        regWrite(0x6E, 0x62);
        Wire.beginTransmission(MPU_ADDR);
        Wire.write(0x6F);
        Wire.endTransmission();
        Wire.beginTransmission(MPU_ADDR);
        Wire.requestFrom(MPU_ADDR,2);
        temp = Wire.read();
        temp = Wire.read();
        firstPacket = false;
        
        fifoReady();
      }
 
      if(fifoCountL == 42){
        processQuat();
        sendQuat();
      }
  euler[0] = -atan2(2 * q[1] * q[2]+2 * q[0] * q[3], -2 * q[2]*q[2] - 2 * q[3] * q[3] + 1)*57.295; // yaw
  euler[1] = -asin(-2 * q[1] * q[3] + 2 * q[0] * q[2])*57.295;     //pitch
  euler[2] = atan2(2 * q[2] * q[3] + 2 * q[0] * q[1], -2 * q[1] * q[1] - 2 * q[2] * q[2] + 1)*57.295; //roll
  gyro[0] = (received_packet[16] << 8) + received_packet[17];
  gyro[1] = (received_packet[20] << 8) + received_packet[21];
  gyro[2] = (received_packet[24] << 8) + received_packet[25];
  mpu.dmpGetAccel(&aaReal,received_packet);
//  //transform();
display();
//  Serial.print(digitalRead(2));
//  Serial.print(",");
//  Serial.println(digitalRead(3));
  
  
    }
  }

}

void check_MPU(){
    
  Wire.beginTransmission(MPU_ADDR);
  Wire.write(0x75);
  Wire.endTransmission();
  Wire.beginTransmission(MPU_ADDR);
  Wire.requestFrom(MPU_ADDR,1);
  byte aByte = Wire.read();
  if(aByte == 0x68){
  //Serial.println("Found MPU6050");
  }
  else{
  // Serial.println("Didn't find MPU6050");
  }
}

void processQuat(){
    processed_packet[0] = received_packet[0];
    processed_packet[1] = received_packet[1];
    processed_packet[2] = received_packet[4];
    processed_packet[3] = received_packet[5];
    processed_packet[4] = received_packet[8];
    processed_packet[5] = received_packet[9];
    processed_packet[6] = received_packet[12];
    processed_packet[7] = received_packet[13];
    
}
  
void sendQuat(){
  // following conversion adapted from Invensense's TeaPot example
  q[0] = (long) ((((unsigned long) processed_packet[0]) << 8) + ((unsigned long) processed_packet[1]));
  q[1] = (long) ((((unsigned long) processed_packet[2]) << 8) + ((unsigned long) processed_packet[3]));
  q[2] = (long) ((((unsigned long) processed_packet[4]) << 8) + ((unsigned long) processed_packet[5]));
  q[3] = (long) ((((unsigned long) processed_packet[6]) << 8)  + ((unsigned long) processed_packet[7]));
  
  for(int i = 0; i < 4; i++ ) {
    if( q[i] > 32767 ) {
      q[i] -= 65536;
    }
    q[i] = ((float) q[i]) / 16384.0f;
  }
  
  
 //serialPrintFloatArr(q, 4);
  //Serial.print(q[i]);

  //Serial.print("\n");
}
void bank_sel(byte bank){
  Wire.beginTransmission(MPU_ADDR);
  Wire.write(0x6D);
  Wire.write(bank);
  Wire.endTransmission();
}
void display()
{
  Serial.print(aaReal.x/8192.0f);
  Serial.print(",");
  Serial.print(aaReal.y/8192.0f);
  Serial.print(",");
  Serial.print(aaReal.z/8192.0f);
  Serial.print(",");
  Serial.print(gyro[0]/16.4f);
  Serial.print(",");
  Serial.print(gyro[1]/16.4f);
  Serial.print(",");
  Serial.print(gyro[2]/16.4f);
  Serial.print(",");
  Serial.print(euler[0]);        //yaw
  Serial.print(",");
  Serial.print(euler[1]);        //pitch
  Serial.print(",");
  Serial.print(euler[2]);      //roll
  Serial.print(",");
  Serial.print(digitalRead(2));
  Serial.print(",");
  Serial.println(digitalRead(3));
}

